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Plane: added INITIAL_MODE which is the mode we boot up into.

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This is useful when flying without a RX or if you have a RX that
outputs zeros without a detected Txmtr
This commit is contained in:
Tom Pittenger 2015-02-26 13:07:59 -08:00 committed by Andrew Tridgell
parent 472a50f9c2
commit 420e9e0d2e
3 changed files with 10 additions and 1 deletions
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2
ArduPlane/Parameters.h
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@ -272,6 +272,7 @@ public:
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
k_param_initial_mode,
//
// 220: Waypoint data
@ -407,6 +408,7 @@ public:
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
AP_Int8 initial_mode;
// Navigational maneuvering limits
//

7
ArduPlane/Parameters.pde
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@ -605,6 +605,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
// @Param: INITIAL_MODE
// @DisplayName: Initial flight mode
// @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", MANUAL),
// @Param: LIM_ROLL_CD
// @DisplayName: Maximum Bank Angle
// @Description: The maximum commanded bank angle in either direction

2
ArduPlane/system.pde
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@ -220,7 +220,7 @@ static void init_ardupilot()
// choose the nav controller
set_nav_controller();
set_mode(MANUAL);
set_mode((FlightMode)g.initial_mode.get());
// set the correct flight mode
// ---------------------------